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Core Behaviors for MoveIt Pro
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moveit_studio::behaviors::AttachURDF Class Reference

This Behavior sends a request to attach a URDF object to a robot for motion planning purposes. More...

#include <attach_urdf.hpp>

Inheritance diagram for moveit_studio::behaviors::AttachURDF:
Collaboration diagram for moveit_studio::behaviors::AttachURDF:

Public Types

using AttachURDFSrv = moveit_studio_agent_msgs::srv::AttachURDF
 

Public Member Functions

 AttachURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
 
 AttachURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< AttachURDFSrv > > client_interface)
 
- Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachURDF >
 ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
 Constructs ServiceClientBehaviorBase using the RclcppClientInterface.
 
 ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< moveit_studio_agent_msgs::srv::AttachURDF > > client_interface)
 Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.
 
virtual ~ServiceClientBehaviorBase ()=default
 
- Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
 AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
 
virtual ~AsyncBehaviorBase ()=default
 
BT::NodeStatus onStart () override
 Required implementation of BT::StatefulActionNode::onStart().
 
BT::NodeStatus onRunning () override
 Required implementation of BT::StatefulActionNode::onRunning().
 
void onHalted () override
 Required implementation of BT::StatefulActionNode::onHalted().
 
void resetStatus ()
 Resets the internal status of this node.
 
- Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
 SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
 Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.
 

Static Public Member Functions

static BT::PortsList providedPorts ()
 
static BT::KeyValueVector metadata ()
 

Static Public Attributes

static constexpr auto kDefaultUrdfNamePort = "urdf_name"
 
static constexpr auto kDefaultParentLinkNamePort = "parent_link_name"
 
static constexpr auto kDefaultAllowedCollisionLinksPort = "allowed_collision_links"
 
- Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachURDF >
static constexpr std::chrono::seconds kTimeoutWaitForServiceServer
 

Protected Member Functions

virtual std::string getUrdfNamePort () const
 
virtual std::string getParentLinkNamePort () const
 
virtual std::string getAllowedCollisionLinksPort () const
 
- Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachURDF >
virtual tl::expected< std::chrono::duration< double >, std::string > getWaitForServerAvailableTimeout ()
 Optional user-provided function to set the timeout used when waiting for the service server to be available.
 
virtual tl::expected< bool, std::string > processResponse (const typename ServiceT::Response &)
 Optional user-provided function to process the service response after the service has finished.
 
- Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void notifyCanHalt ()
 Called when runAsync() finishes to notify onHalted() that the async process has finished.
 

Additional Inherited Members

- Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContextshared_resources_
 

Detailed Description

This Behavior sends a request to attach a URDF object to a robot for motion planning purposes.

The URDF object must first be added to the planning scene before it can be attached. It is attached to the robot at the specified link at the relative pose between the link and the URDF object collision object. Once attached, the URDF object will move with the link it is attached to. If the URDF object contains joints and those are reported in the /joint_states topic, the URDF object collision shapes will update their state accordingly. If the URDF object is allowed to collide with some other links (e.g. the link it is attached to), these links can be specified in the allowed_collision_links port.

See also DetachURDF for detaching a URDF object.

Data Port Name Port Type Object Type
urdf_name input std::string
parent_link_name input std::string
allowed_collision_links input std::vector<std::string>

Member Typedef Documentation

◆ AttachURDFSrv

using moveit_studio::behaviors::AttachURDF::AttachURDFSrv = moveit_studio_agent_msgs::srv::AttachURDF

Constructor & Destructor Documentation

◆ AttachURDF() [1/2]

moveit_studio::behaviors::AttachURDF::AttachURDF ( const std::string &  name,
const BT::NodeConfiguration &  config,
const std::shared_ptr< BehaviorContext > &  shared_resources 
)
explicit

◆ AttachURDF() [2/2]

moveit_studio::behaviors::AttachURDF::AttachURDF ( const std::string &  name,
const BT::NodeConfiguration &  config,
const std::shared_ptr< BehaviorContext > &  shared_resources,
std::unique_ptr< ClientInterfaceBase< AttachURDFSrv > >  client_interface 
)
explicit

Member Function Documentation

◆ getAllowedCollisionLinksPort()

virtual std::string moveit_studio::behaviors::AttachURDF::getAllowedCollisionLinksPort ( ) const
inlineprotectedvirtual

◆ getParentLinkNamePort()

virtual std::string moveit_studio::behaviors::AttachURDF::getParentLinkNamePort ( ) const
inlineprotectedvirtual

◆ getUrdfNamePort()

virtual std::string moveit_studio::behaviors::AttachURDF::getUrdfNamePort ( ) const
inlineprotectedvirtual

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::AttachURDF::metadata ( )
static

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::AttachURDF::providedPorts ( )
static

Member Data Documentation

◆ kDefaultAllowedCollisionLinksPort

constexpr auto moveit_studio::behaviors::AttachURDF::kDefaultAllowedCollisionLinksPort = "allowed_collision_links"
staticconstexpr

◆ kDefaultParentLinkNamePort

constexpr auto moveit_studio::behaviors::AttachURDF::kDefaultParentLinkNamePort = "parent_link_name"
staticconstexpr

◆ kDefaultUrdfNamePort

constexpr auto moveit_studio::behaviors::AttachURDF::kDefaultUrdfNamePort = "urdf_name"
staticconstexpr

The documentation for this class was generated from the following files: